Contributed by Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received August 8, 2012; final manuscript received October 21, 2013; published online February 12, 2014. Assoc. Editor: Javier Garcia de Jalon.

Abstract

The objective of the present paper is to introduce and analyze a particular spatial mechanism as a modification of the Stewart robot. The three limbs of the Stewart parallel robot are replaced by springs. Three hydraulic actuators control translational motion of the mechanism. Kinematics of the mechanism is studied and its static equations are derived and for a special case where external and gravitational forces are neglected, an analytical solution is presented. Also, the principle of virtual work is employed to derive the equations of motion of the proposed mechanism. Based on the dynamical equations, the motion of the system is simulated.

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